EP1232988A1 - Method to obtain shaft information for an elevator controller - Google Patents

Method to obtain shaft information for an elevator controller Download PDF

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Publication number
EP1232988A1
EP1232988A1 EP02405119A EP02405119A EP1232988A1 EP 1232988 A1 EP1232988 A1 EP 1232988A1 EP 02405119 A EP02405119 A EP 02405119A EP 02405119 A EP02405119 A EP 02405119A EP 1232988 A1 EP1232988 A1 EP 1232988A1
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EP
European Patent Office
Prior art keywords
image
shaft
elevator
determined
elevator shaft
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EP02405119A
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German (de)
French (fr)
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EP1232988B1 (en
Inventor
Gert Silberhorn
René Dipl.-Ing. Kunz
Markus Dr. Phys. Schenkel
Anton Prof. Dr. Gunzinger
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Inventio AG
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Inventio AG
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Priority to DK02405119T priority Critical patent/DK1232988T3/en
Priority to EP02405119A priority patent/EP1232988B1/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B1/00—Control systems of elevators in general
    • B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
    • B66B1/3492—Position or motion detectors or driving means for the detector

Definitions

  • the invention relates to a method for generating an elevator control serving shaft information a Elevator shaft with one movable in the elevator shaft Elevator car, the shaft information from figuratively recognizable patterns is generated.
  • a device is known from the patent specification EP 0 722 903 B1 for generating shaft information of an elevator shaft known.
  • the elevator shaft is in the area Stop arranged a reflector with a code.
  • the Code has two identical tracks.
  • a drive-in area a stop in which the bridging of door contacts is allowed, is half above and below one Level line.
  • the Code of the tracks is made by one at the elevator car arranged 2-channel evaluation device detected and evaluated. Transmitters of the evaluation device illuminate the Traces of a reflector.
  • the illuminated areas of the Traces are on the evaluation unit's CCD sensors mapped and recorded using a pattern recognition logic.
  • the processing of the images for the elevator control serving information takes place by means of a Computing device.
  • a disadvantage of the known device is that to create a pattern in the elevator shaft arranged code strip is necessary.
  • the code strip must be precise and without overstretching in the elevator shaft to be ordered. Furthermore, it is not guaranteed that the code strip is not completely off the pad or partially solves. Improper assembly or an Detaching the code strip has no or wrong patterns Episode.
  • the invention seeks to remedy this.
  • the invention as characterized in claim 1, solves the problem to avoid the disadvantages of the known device and to provide a system and procedure by which the Generation from an elevator control serving Manhole information is guaranteed in every case.
  • the advantages achieved by the invention are in essential to see that no additional Installation in the elevator shaft is necessary.
  • the Installation time of the elevator can be significant be shortened.
  • To generate the shaft information one with sensors arranged on the elevator car is sufficient provided evaluation unit.
  • the shaft information system delivers the as soon as it starts without the Elevator car an absolute position.
  • it can System floor stop positions manage and so far used shaft switch for example for the Brake insert, for door zones, for emergency stops or others Simulate shaft switch.
  • the system is therefore compatible with existing elevator controls.
  • 1 shows the system according to the invention for generating Shaft information.
  • the current one Direction of travel of the elevator car is with an arrow P1 designated.
  • the CCD line sensor is P1 in the direction of travel arranged in the elevator car and has, for example, 128 Picture elements.
  • a section for example, the foot 1.1 of the guide rail 1 of for example, measured 2 cm measured in the direction of travel P1 become.
  • the picture shows the Surface structure or the surface pattern of the Guide rail portion.
  • the CCD line sensor can for example with fast-moving elevator cars an image frequency of 1000 Hz, the Picture elements convert the incident light into charges.
  • the charges are evaluated in the CCD line camera 3 and processed to image data that is sent to a computer be transmitted.
  • Illumination 4 radiates the one to be detected Guide rail section, the section reflected light in charges of the picture elements of the CCD line sensor is converted.
  • To improve the Image quality can be 4 flashed LEDs or lighting Halogen lamps are used. Furthermore, the Image quality through digital filtering and / or through certain methods of image processing are improved.
  • the surface structure or Surface pattern of the guide rail 1 can for example the surface structure or the Surface pattern of the masonry of the elevator shaft 2 or the surface structure or the surface pattern of Construction parts (steel beams) of the elevator shaft 2 are captured by the CCD line camera 3.
  • Guide rail, Masonry or structural parts serve primarily not the generation of shaft information, but perform their traditional tasks such as leadership and / or Carrying the elevator car and / or counterweight or Carrying parts of buildings.
  • the CCD line camera 3 recorded surface structure or the surface pattern in the Memory of the computer together with a position index stored.
  • the elevator car is moved to the desired height, the position recorded by the system and as a floor setpoint managed.
  • Two redundant systems can be used to increase security be provided.
  • One system records the Surface structure or the surface pattern of one Guide rail, the other system detects the Surface structure or the surface pattern of the others Guide rail.
  • both systems can Surface structure or the surface pattern of the same Detect the guide rail.
  • the output signals of one Systems can act as a training signal for the other system and vice versa. If since Calibration of the surface structure or that Surface pattern that has changed a guide rail, can the new surface structure or the new Surface pattern with the position data of the other Systems are provided.
  • Fig. 1 is the image of the surface structure or Surface pattern of the guide rail section of the Position i shown with a solid line, the Image already captured and the associated absolute position has been determined.
  • Fig. 1 shows the method for Determination of the image of the surface structure or Surface pattern of the guide rail section of the Position i + 1.
  • the new picture with the position i + 1 is with dashed line and is with the image of Position i overlapping.
  • the image data are not on the transfer shown computer with memory.
  • a first one software-implemented correlator I of the computer calculated from the image of position i and the new image position i + 1 is an incremental or relative position and from this using the absolute position i an estimated position.
  • the estimated position of the Image with the position i + 1 becomes a second Correlator II of the computer implemented in software fed that with the estimated position the relevant Localized database section in which the at Calibration filed image lies. As explained above, is add a position index to the stored image.
  • the Correlator II compares the new image of position i + 1 with the stored image and determined based on the Position indexes the absolute position i + 1 that corresponds to the Elevator control is forwarded.
  • a CCD line camera 3 with a Optics and provided with a CCD line sensor instead of the line sensor can also be a two-dimensional one Area sensor may be provided.
  • the picture elements of the Direction of travel are perpendicular dimension averaged, creating a one-dimensional brightness profile arises.
  • the speed v of the elevator car can be determined from the difference in position p1 at time t1 and position p2 at time t2.
  • v (p2-p1) / (t2-t1)
  • a double sensor system can also be used are used with two LEDs as light sources and two photo resistors as brightness detectors.
  • at moving elevator car corresponds to the one signal delayed mapping of the other signal.
  • the two Signals can be compared using correlation methods and the speed of the elevator car can be adjusted by means of the Time delay and the distance between the sensors determined become.
  • the position can be achieved by integrating the Speed and on the other hand by comparison with the saved during calibration and running later corrected data can be determined.
  • the correlation (correlator I or Correlator II) a current image with a reference image correlated.
  • a correlation window is extracted and then pixel by pixel over the reference image pushed.
  • the difference of the Pixel gray values determined and then their squares summed up. This calculation method determines the Length of the difference vector between two image vectors, the correspond to the one-dimensional images.
  • the pixel-by-pixel calculation of correlation values also enables a reliability value to be derived.
  • the correlation values are at a minimum because two quasi-identical images are approximately zero apart.
  • the absolute minimum aM, the second best minimum zM and the standard deviation S over the entire correlation length are used to calculate a reliability value ZW.
  • ZW (zM-aM) / S
  • Fig. 2 shows the procedure for determining an incremental or relative position of a captured section for example the guide rail.
  • the first Correlator I of the computer implemented in software calculated from the image of position i and the new image position i + 1 is an incremental or relative position.
  • the image data of the CCD line camera 3 a one-dimensional image with pixels or pixels are extracted or generated. That also image vector or image called brightness vector is then in the Step S2 through a high pass and low pass filter stage directed.
  • a high-pass filter By editing the image vector or Brightness vectors using a high-pass filter become external Interference with lighting profile suppressed.
  • By editing the image vector or Brightness vector using a low-pass filter becomes thermal Noise from the CCD line scan camera eliminated.
  • step S3 becomes the processed image vector or brightness vector position i + 1 a correlation window or a Correlation vector with defined length taken, where the correlation window in step S4 pixel by pixel over the Image vector of the previous image i is pushed.
  • Step S5 becomes the distance between pixels i + 1 per pixel and pixel i calculated.
  • step S6 Ralative shift between the image of position i and the image of the position i + 1 determined. 1 is the Relative position called incremental position.
  • step S7 becomes the relative position to the previous one Absolute position i added.
  • the new in Fig. 1 as estimated position is the designated absolute position decisive for the localization of the relevant Database cutout. According to step S7 for example three of the new absolute position nearest image vectors are read from the image database and fed to the sequence according to FIG. 3.
  • Fig. 3 shows the procedure for determining an absolute Position of a detected section, for example the Guide rail.
  • the second implemented in software Correlator II of the computer calculated from the image of the Position i and the new image of position i + 1 one absolute position.
  • a tenth step S10 is off the image data of the CCD line camera 3 a one-dimensional Extracted or generated image with pixels.
  • the image also called image vector or brightness vector is then in step S11 via a high pass and Low pass filter stage directed.
  • step S12 becomes the processed image vector or brightness vector position i + 1 a correlation window or a Correlation vector with defined length taken, where the correlation window in step S13 pixel by pixel over the image vectors taken from the image database in step S7 is pushed.
  • step S14 the distance per pixel between pixels i + 1 and pixels of the extracted image vectors calculated.
  • step S15 the pixel becomes i + 1 with the smallest distance determines what the results in current absolute position.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Indicating And Signalling Devices For Elevators (AREA)

Abstract

The shaft information generation method uses visually detectable patterns provided along the elevator shaft, provided by structured surfaces of shaft components having a different function. Images are generated by stepped detection of the patterns, the image data fed to a correlator providing an estimated position from the incremental position of a new image and the absolute position of a preceding image and fed to a second correlator providing an absolute position for the lift control.

Description

Die Erfindung betrifft ein Verfahren zur Erzeugung von einer Aufzugssteuerung dienender Schachtinformation eines Aufzugsschachtes mit einer im Aufzugsschacht verfahrbaren Aufzugskabine, wobei die Schachtinformation aus bildweise erkennbaren Mustern erzeugt wird.The invention relates to a method for generating an elevator control serving shaft information a Elevator shaft with one movable in the elevator shaft Elevator car, the shaft information from figuratively recognizable patterns is generated.

Aus der Patentschrift EP 0 722 903 B1 ist eine Einrichtung zur Erzeugung von Schachtinformation eines Aufzugsschachtes bekannt geworden. Im Aufzugsschacht ist im Bereich einer Haltestelle ein Reflektor mit einem Code angeordnet. Der Code weist zwei identische Spuren auf. Ein Einfahrbereich einer Haltestelle, in dem die Überbrückung von Türkontakten erlaubt ist, liegt hälftig oberhalb und unterhalb einer Niveaulinie. Ein Nachstellbereich, in dem mit überbrückten Türkontakten ein Nachstellen einer sich durch Seildehnung absenkenden Aufzugskabine bei offenen Türen erlaubt ist, liegt hälftig oberhalb und unterhalb der Niveaulinie. Der Code der Spuren wird von einer an der Aufzugskabine angeordneten 2-kanaligen Auswerteeinrichtung erfasst und ausgewertet. Sender der Auswerteeinrichtung beleuchten die Spuren eines Reflektors. Die beleuchteten Flächen der Spuren werden auf CCD-Sensoren der Auswerteeinheit abgebildet und mittels einer Mustererkennungslogik erfasst. Die Aufbereitung der Bilder zu der Aufzugssteuerung dienender Information erfolgt mittels einer Recheneinrichtung. A device is known from the patent specification EP 0 722 903 B1 for generating shaft information of an elevator shaft known. In the elevator shaft is in the area Stop arranged a reflector with a code. The Code has two identical tracks. A drive-in area a stop in which the bridging of door contacts is allowed, is half above and below one Level line. An adjustment area in which bridged with Door contacts an adjustment of yourself by rope stretching lowering elevator car is allowed with open doors, is half above and below the level line. The Code of the tracks is made by one at the elevator car arranged 2-channel evaluation device detected and evaluated. Transmitters of the evaluation device illuminate the Traces of a reflector. The illuminated areas of the Traces are on the evaluation unit's CCD sensors mapped and recorded using a pattern recognition logic. The processing of the images for the elevator control serving information takes place by means of a Computing device.

Ein Nachteil der bekannten Einrichtung liegt darin, dass zur Erzeugung von Mustern ein im Aufzugsschacht angeordneter Codestreifen notwendig ist. Der Codestreifen muss präzise und ohne Überdehnung im Aufzugsschacht angeordnet werden. Im weiteren ist nicht gewährleistet, dass sich der Codestreifen nicht von der Unterlage ganz oder teilweise löst. Eine unsachgemässe Montage oder ein Ablösen des Codestreifens hat keine oder falsche Muster zur Folge.A disadvantage of the known device is that to create a pattern in the elevator shaft arranged code strip is necessary. The code strip must be precise and without overstretching in the elevator shaft to be ordered. Furthermore, it is not guaranteed that the code strip is not completely off the pad or partially solves. Improper assembly or an Detaching the code strip has no or wrong patterns Episode.

Hier will die Erfindung Abhilfe schaffen. Die Erfindung, wie sie in Anspruch 1 gekennzeichnet ist, löst die Aufgabe, die Nachteile der bekannten Einrichtung zu vermeiden und ein System und ein Verfahren anzugeben, mit dem die Erzeugung von einer Aufzugssteuerung dienender Schachtinformation in jedem Fall gewährleistet ist.The invention seeks to remedy this. The invention, as characterized in claim 1, solves the problem to avoid the disadvantages of the known device and to provide a system and procedure by which the Generation from an elevator control serving Manhole information is guaranteed in every case.

Die durch die Erfindung erreichten Vorteile sind im wesentlichen darin zu sehen, dass keine zusätzliche Installation im Aufzugsschacht notwendig ist. Die Installationszeit des Aufzuges kann dadurch wesentlich verkürzt werden. Zur Erzeugung der Schachtinformation genügt eine an der Aufzugskabine angeordnete mit Sensoren versehene Auswerteeinheit. Mit den im Aufzugsschacht vorhandenen Strukturen ist ein sehr zuverlässig arbeitendes und kostengünstiges Schachtinformationssystem mit hoher Auflösung realisierbar. Das Schachtinformationssystem liefert bereits beim Aufstarten ohne Verfahren der Aufzugskabine eine absolute Position. Ausserdem kann das System Stockwerk-Haltepositionen verwalten und die bisher verwendeten Schachtschalter beispielsweise für den Bremseinsatz, für Türzonen, für Notstop oder andere Schachtschalter simulieren. Das System ist somit kompatibel mit bestehenden Aufzugssteuerungen. The advantages achieved by the invention are in essential to see that no additional Installation in the elevator shaft is necessary. The Installation time of the elevator can be significant be shortened. To generate the shaft information one with sensors arranged on the elevator car is sufficient provided evaluation unit. With those in the elevator shaft existing structures is a very reliable one and inexpensive shaft information system with high Realization possible. The shaft information system delivers the as soon as it starts without the Elevator car an absolute position. In addition, it can System floor stop positions manage and so far used shaft switch for example for the Brake insert, for door zones, for emergency stops or others Simulate shaft switch. The system is therefore compatible with existing elevator controls.

Anhand der beiliegenden Figuren wird die vorliegende Erfindung näher erläutert.With the help of the attached figures, the present Invention explained in more detail.

Es zeigen:

  • Fig. 1
    eine schematische Darstellung des erfindungsgemässen Systems,
  • Fig. 2
    den Ablauf zur Bestimmung einer inkrementalen bzw. relativen Position eines erfassten Abschnittes einer Schachtstruktur und
  • Fig. 3
    den Ablauf zur Bestimmung einer absoluten Position eines erfassten Abschnittes.
    • Show it:
  • Fig. 1
    1 shows a schematic representation of the system according to the invention,
  • Fig. 2
    the sequence for determining an incremental or relative position of a detected section of a shaft structure and
  • Fig. 3
    the procedure for determining an absolute position of a detected section.

    • Fig. 1 zeigt das erfindungsgemässe System zur Erzeugung von Schachtinformation. Mit 1 ist eine in einem Aufzugsschacht 2 angeordnete als Schachtausrüstung geltende Führungsschiene mit einem Führungsschienenfuss 1.1 bezeichnet, die der Führung einer im Aufzugsschacht 2 verfahrbaren Aufzugskabine dient. Die momentane Fahrtrichtung der Aufzugskabine ist mit einem Pfeil P1 bezeichnet. An der Aufzugskabine ist eine CCD-Zeilenkamera 3 mit einer Optik und mit einem CCD-Zeilensensor angeordnet. Der CCD-Zeilensensor ist in Fahrtrichtung P1 der Aufzugskabine angeordnet und weist beispielsweise 128 Bildelemente auf. In dieser Anordnung kann ein Abschnitt beispielsweise des Fusses 1.1 der Führungsschiene 1 von beispielsweise 2 cm in Fahrtrichtung P1 gemessen erfasst werden. Es entsteht ein Bild des 2 cm Abschnittes der Führungsschiene 1. Das Bild zeigt die Oberflächenstruktur bzw. das Oberflächenmuster des Führungsschienenabschnittes. Der CCD-Zeilensensor kann beispielsweise bei schnellfahrenden Aufzugskabinen mit einer Bildfrequenz von 1000 Hz betrieben werden, wobei die Bildelemente das einfallende Licht in Ladungen umwandeln. Die Ladungen werden in der CCD-Zeilenkamera 3 ausgewertet und zu Bilddaten aufbereitet, die an einen Rechner übertragen werden.1 shows the system according to the invention for generating Shaft information. With 1 is in an elevator shaft 2 arranged as shaft equipment Guide rail with a guide rail foot 1.1 referred to that of guiding one in the elevator shaft 2 movable elevator car serves. The current one Direction of travel of the elevator car is with an arrow P1 designated. There is a CCD line scan camera on the elevator car 3 with optics and with a CCD line sensor arranged. The CCD line sensor is P1 in the direction of travel arranged in the elevator car and has, for example, 128 Picture elements. In this arrangement, a section for example, the foot 1.1 of the guide rail 1 of for example, measured 2 cm measured in the direction of travel P1 become. A picture of the 2 cm section of the Guide rail 1. The picture shows the Surface structure or the surface pattern of the Guide rail portion. The CCD line sensor can for example with fast-moving elevator cars an image frequency of 1000 Hz, the Picture elements convert the incident light into charges. The charges are evaluated in the CCD line camera 3 and processed to image data that is sent to a computer be transmitted.

    Eine Beleuchtung 4 strahlt den zu erfassenden Führungsschienenabschnitt an, wobei das am Abschnitt reflektierte Licht in Ladungen der Bildelemente des CCD-Zeilensensors umgewandelt wird. Zur Verbesserung der Bildqualität können als Beleuchtung 4 geblitzte LEDs oder Halogenlampen verwendet werden. Im weiteren kann die Bildqualität durch digitale Filterung und/oder durch bestimmte Methoden der Bildaufbereitung verbessert werden.Illumination 4 radiates the one to be detected Guide rail section, the section reflected light in charges of the picture elements of the CCD line sensor is converted. To improve the Image quality can be 4 flashed LEDs or lighting Halogen lamps are used. Furthermore, the Image quality through digital filtering and / or through certain methods of image processing are improved.

    Anstelle der Oberflächenstruktur bzw. des Oberflächenmusters der Führungsschiene 1 kann beispielsweise die Oberflächenstruktur bzw. das Oberflächenmuster des Mauerwerkes des Aufzugsschachtes 2 oder die Oberflächenstruktur bzw. das Oberflächenmuster von Konstruktionsteilen (Stahlträger) des Aufzugsschachtes 2 von der CCD-Zeilenkamera 3 erfasst werden. Führungsschiene, Mauerwerk oder Konstruktionsteile dienen in erster Linie nicht der Erzeugung von Schachtinformation, sondern erfüllen ihre angestammte Aufgabe wie Führen und/oder Tragen der Aufzugskabine und/oder Gegengewichtes oder Tragen von Gebäudeteilen.Instead of the surface structure or Surface pattern of the guide rail 1 can for example the surface structure or the Surface pattern of the masonry of the elevator shaft 2 or the surface structure or the surface pattern of Construction parts (steel beams) of the elevator shaft 2 are captured by the CCD line camera 3. Guide rail, Masonry or structural parts serve primarily not the generation of shaft information, but perform their traditional tasks such as leadership and / or Carrying the elevator car and / or counterweight or Carrying parts of buildings.

    Zur Kalibrierung des Schachtinformationssystems wird der Aufzugsschacht 2 durchfahren. Während dieser Kalibrationsfahrt wird die mit der CCD-Zeilenkamera 3 erfasste Oberflächenstruktur bzw. das Oberflächenmuster im Speicher des Rechners zusammen mit einem Positionsindex abgelegt. Zur Bestimmung der Haltposition für ein Stockwerk wird die Aufzugskabine auf die gewünschte Höhe gefahren, die Position vom System erfasst und als Stockwerk-Sollwert verwaltet.To calibrate the shaft information system, the Drive through elevator shaft 2. During this Calibration run is with the CCD line camera 3 recorded surface structure or the surface pattern in the Memory of the computer together with a position index stored. To determine the stop position for a floor the elevator car is moved to the desired height, the position recorded by the system and as a floor setpoint managed.

    Zur Erhöhung der Sicherheit können zwei redundante Systeme vorgesehen sein. Das eine System erfasst die Oberflächenstruktur bzw. das Oberflächenmuster der einen Führungsschiene, das andere System erfasst die Oberflächenstruktur bzw. das Oberflächenmuster der anderen Führungsschiene. Als Variante können beide Systeme die Oberflächenstruktur bzw. das Oberflächenmuster derselben Führungsschiene erfassen. Die Ausgangssignale des einen Systems können als Trainingssignal für das andere System und umgekehrt verwendet werden. Falls sich seit der Kalibrierung die Oberflächenstruktur bzw. das Oberflächenmuster der einen Führungsschiene verändert hat, kann die neue Oberflächenstruktur bzw. das neue Oberflächenmuster mit den Positionsdaten des anderen Systems versehen werden.Two redundant systems can be used to increase security be provided. One system records the Surface structure or the surface pattern of one Guide rail, the other system detects the Surface structure or the surface pattern of the others Guide rail. As a variant, both systems can Surface structure or the surface pattern of the same Detect the guide rail. The output signals of one Systems can act as a training signal for the other system and vice versa. If since Calibration of the surface structure or that Surface pattern that has changed a guide rail, can the new surface structure or the new Surface pattern with the position data of the other Systems are provided.

    In Fig. 1 ist das Bild der Oberflächenstruktur bzw. des Oberflächenmusters des Führungsschienenabschnittes der Position i mit durchgehender Linie dargestellt, wobei das Bild bereits erfasst und die zugehörige absolute Position bestimmt worden ist. Fig. 1 zeigt das Verfahren zur Bestimmung des Bildes der Oberflächenstruktur bzw. des Oberflächenmusters des Führungsschienenabschnittes der Position i+1. Das neue Bild mit der Position i+1 ist mit unterbrochener Linie dargestellt und ist mit dem Bild der Position i überlappend. Die Bilddaten werden an den nicht dargestellten Rechner mit Speicher übergeben. Ein erster softwaremässig realisierter Korrelator I des Rechners berechnet aus dem Bild der Position i und dem neuen Bild der Position i+1 eine inkrementale bzw. relative Position und aus dieser unter Verwendung der absoluten Position i eine geschätzte Position. Die geschätzte Position des Bildes mit der Position i+1 wird einem zweiten softwaremässig realisierten Korrelator II des Rechners zugeführt, der mit der geschätzten Position den relevanten Datenbankausschnitt lokalisiert, in dem das bei der Kalibrierung abgelegte Bild liegt. Wie oben erläutert, ist das abgelegte Bild mit einem Positionsindex versehen. Der Korrelator II vergleicht das neue Bild der Position i+1 mit dem abgelegten Bild und bestimmt aufgrund des Positionsindexes die absolute Position i+1, die an die Aufzugssteuerung weitergeleitet wird.In Fig. 1 is the image of the surface structure or Surface pattern of the guide rail section of the Position i shown with a solid line, the Image already captured and the associated absolute position has been determined. Fig. 1 shows the method for Determination of the image of the surface structure or Surface pattern of the guide rail section of the Position i + 1. The new picture with the position i + 1 is with dashed line and is with the image of Position i overlapping. The image data are not on the transfer shown computer with memory. A first one software-implemented correlator I of the computer calculated from the image of position i and the new image position i + 1 is an incremental or relative position and from this using the absolute position i an estimated position. The estimated position of the Image with the position i + 1 becomes a second Correlator II of the computer implemented in software fed that with the estimated position the relevant Localized database section in which the at Calibration filed image lies. As explained above, is add a position index to the stored image. The Correlator II compares the new image of position i + 1 with the stored image and determined based on the Position indexes the absolute position i + 1 that corresponds to the Elevator control is forwarded.

    Im Aufzugsbetrieb entstandene Veränderungen der Oberflächenstruktur bzw. des Oberflächenmusters der Führungsschiene 1 können durch die Datenbank kontinuierlich nachgelernt werden. Bei Veränderungen an der Schienenoberfläche werden die neuen, bei der inkrementalen Korrelation verwendeten Bilder der Führungsschiene 1 von der Datenbank adaptiv übernommen.Changes in the elevator operation Surface structure or the surface pattern of the Guide rail 1 can continuously through the database be relearned. When changes to the Rail surface will be the new one, at the incremental Correlation used images of the guide rail 1 from adaptively adopted from the database.

    Wie oben erläutert ist eine CCD-Zeilenkamera 3 mit einer Optik und mit einem CCD-Zeilensensor vorgesehen. Anstelle des Zeilensensors kann auch ein zweidimensionaler Flächensensor vorgesehen sein. Die Bildelemente der zur Fahrtrichtung senkrecht stehenden Dimension werden gemittelt, wodurch ein eindimensionales Helligkeitsprofil entsteht.As explained above, a CCD line camera 3 with a Optics and provided with a CCD line sensor. Instead of the line sensor can also be a two-dimensional one Area sensor may be provided. The picture elements of the Direction of travel are perpendicular dimension averaged, creating a one-dimensional brightness profile arises.

    Die Geschwindigkeit v der Aufzugskabine kann aus der Differenz der Position p1 zum Zeitpunkt t1 und der Position p2 zum Zeitpunkt t2 bestimmt werden. v = (p2-p1)/(t2-t1) The speed v of the elevator car can be determined from the difference in position p1 at time t1 and position p2 at time t2. v = (p2-p1) / (t2-t1)

    Anstelle der CCD-Zeilenkamera 3 kann auch ein Doppelsensor-System verwendet werden mit zwei LEDs als Lichtquellen und zwei Photowiderständen als Helligkeitsdetektoren. Bei fahrender Aufzugskabine entspricht das eine Signal einer zeitverzögerten Abbildung des anderen Signals. Die beiden Signale können durch Korrelationsmethoden verglichen werden und die Geschwindigkeit der Aufzugskabine kann mittels der Zeitverzögerung und des Abstandes der Sensoren ermittelt werden. Die Position kann einerseits durch Integration der Geschwindigkeit und andererseits durch Vergleich mit den bei der Kalibrierung gespeicherten und später laufend korrigierten Daten ermittelt werden.Instead of the CCD line camera 3, a double sensor system can also be used are used with two LEDs as light sources and two photo resistors as brightness detectors. at moving elevator car corresponds to the one signal delayed mapping of the other signal. The two Signals can be compared using correlation methods and the speed of the elevator car can be adjusted by means of the Time delay and the distance between the sensors determined become. The position can be achieved by integrating the Speed and on the other hand by comparison with the saved during calibration and running later corrected data can be determined.

    Prinzipiell wird bei der Korrelation (Korrelator I oder Korrelator II) ein aktuelles Bild mit einem Referenzbild korreliert. Zuerst wird ein Korrelationsfenster extrahiert und anschliessend pixelweise über das Referenzbild geschoben. Für jedes Fensterpixel wird die Differenz des Pixelgrauwertes bestimmt und anschliessend deren Quadrate aufsummiert. Dieses Berechnungsverfahren ermittelt die Länge des Differenzvektors zwischen zwei Bildvektoren, die den eindimensionalen Bildern entsprechen.In principle, the correlation (correlator I or Correlator II) a current image with a reference image correlated. First, a correlation window is extracted and then pixel by pixel over the reference image pushed. For each window pixel, the difference of the Pixel gray values determined and then their squares summed up. This calculation method determines the Length of the difference vector between two image vectors, the correspond to the one-dimensional images.

    Das pixelweise Berechnen von Korrelationswerten ermöglicht zusätzlich das Ableiten eines Zuverlässigkeitswertes. An der entsprechenden Stelle weisen die Korrelationswerte ein Minimum auf, weil zwei quasi identische Bilder einen Abstand von annähernd null haben. Für die Berechnung eines Zuverlässigkeitswertes ZW werden das absolute Minimum aM, das zweitbeste Minimum zM sowie die Standardabweichung S über die gesamte Korrelationslänge verwendet. Im praktischen Einsatz ergeben sich für ZW Werte zwischen sechs und zehn, wobei eine Schwelle von beispielsweise fünf verwendet wird.
    ZW = (zM-aM)/S    The pixel-by-pixel calculation of correlation values also enables a reliability value to be derived. At the corresponding point, the correlation values are at a minimum because two quasi-identical images are approximately zero apart. The absolute minimum aM, the second best minimum zM and the standard deviation S over the entire correlation length are used to calculate a reliability value ZW. In practical use, values of between six and ten result for ZW, with a threshold of, for example, five being used.
    ZW = (zM-aM) / S

    Es entsteht ein sehr guter Zuverlässigkeitswert bei kleineren Geschwindigkeiten der Aufzugskabine, wobei die inkrementale Korrelation (zwei aufeinanderfolgende Bilder mit Überlappung) und die Datenbankkorrelation (Vollständiges Abbild der Führungsschienenoberfläche in der Datenbank) gut sind.A very good reliability value arises with lower speeds of the elevator car, the incremental correlation (two successive images with overlap) and the database correlation (Complete image of the guide rail surface in the Database) are good.

    Falls die Führungsschienenoberfläche eine Veränderung erfahren hat, entsteht ein guter Zuverlässigkeitswert bei kleineren Geschwindigkeiten der Aufzugskabine, wobei die inkrementale Korrelation (zwei aufeinanderfolgende Bilder mit Überlappung) gut ist und die Datenbankkorrelation (unvollständiges Abbild der Führungsschienenoberfläche in der Datenbank) schlecht ist.If the guide rail surface is a change experienced, there is a good reliability score lower speeds of the elevator car, the incremental correlation (two successive images with overlap) is good and the database correlation (incomplete image of the guide rail surface in the database) is bad.

    Falls die Führungsschienenoberfläche keine Veränderung erfahren hat, entsteht ein guter Zuverlässigkeitswert bei grösseren Geschwindigkeiten der Aufzugskabine, wobei die inkrementale Korrelation (zwei aufeinanderfolgende Bilder mit kaum brauchbarer Überlappung) schlecht ist und die Datenbankkorrelation (vollständiges Abbild der Führungsschienenoberfläche in der Datenbank) gut ist.If the guide rail surface does not change experienced, there is a good reliability score higher speeds of the elevator car, the incremental correlation (two successive images with hardly usable overlap) is bad and the Database correlation (complete image of the Guide rail surface in the database) is good.

    Falls die Führungsschienenoberfläche eine Veränderung erfahren hat, entsteht ein schlechter Zuverlässigkeitswert bei grösseren Geschwindigkeiten der Aufzugskabine, wobei die inkrementale Korrelation (zwei aufeinanderfolgende Bilder mit kaum brauchbarer Überlappung) schlecht ist und die Datenbankkorrelation (unvollständiges Abbild der Führungsschienenoberfläche in der Datenbank) schlecht ist. If the guide rail surface is a change experienced, a poor reliability value arises at higher speeds of the elevator car, whereby the incremental correlation (two consecutive Pictures with hardly usable overlap) is bad and the database correlation (incomplete image of the Guide rail surface in the database) is bad.

    Fig. 2 zeigt den Ablauf zur Bestimmung einer inkrementalen bzw. relativen Position eines erfassten Abschnittes beispielsweise der Führungsschiene. Der erste softwaremässig realisierte Korrelator I des Rechners berechnet aus dem Bild der Position i und dem neuen Bild der Position i+1 eine inkrementale bzw. relative Position. In einem ersten Schritt S1 wird aus den Bilddaten der CCD-Zeilenkamera 3 ein eindimensionales Bild mit Bildpunkten bzw. Pixeln extrahiert bzw. generiert. Das auch Bildvektor bzw. Helligkeitsvektor genannte Bild wird anschliessend im Schritt S2 über eine Hochpass- und Tiefpassfilterstufe geleitet. Durch die Bearbeitung des Bildvektors bzw. Helligkeitsvektors mittels Hochpassfilter werden externe Störeinflüsse bezüglich Beleuchtungsprofil unterdrückt. Durch die Bearbeitung des Bildvektors bzw. Helligkeitsvektors mittels Tiefpassfilter wird thermisches Rauschen der CCD-Zeilenkamera eliminiert. Im Schritt S3 wird dem aufbereiteten Bildvektor bzw. Helligkeitsvektor der Position i+1 ein Korrelationsfenster bzw. ein Korrelationsvektor mit definierter Länge entnommen, wobei das Korrelationsfenster im Schritt S4 pixelweise über den Bildvektor des vorangehenden Bildes i geschoben wird. Im Schritt S5 wird pro Pixel die Distanz zwischen Pixel i+1 und Pixel i berechnet. Anschliessend wird im Schritt S6 die Ralativverschiebung zwischen dem Bild der Position i und dem Bild der Position i+1 bestimmt. In Fig. 1 ist die Relativposition mit inkrementaler Position bezeichnet. Im Schritt S7 wird die Relativposition zur vorangehenden Absolutposition i hinzugerechnet. Die neue in Fig. 1 als geschätzte Position bezeichnete Absolutposition ist massgebend für die Lokalisierung des relevanten Datenbankausschnittes. Gemäss Schritt S7 werden beispielsweise drei der neuen Absolutposition nächstliegende Bildvektoren der Bilddatenbank ausgelesen und dem Ablauf gemäss Fig. 3 zugeführt.Fig. 2 shows the procedure for determining an incremental or relative position of a captured section for example the guide rail. The first Correlator I of the computer implemented in software calculated from the image of position i and the new image position i + 1 is an incremental or relative position. In a first step S1, the image data of the CCD line camera 3 a one-dimensional image with pixels or pixels are extracted or generated. That also image vector or image called brightness vector is then in the Step S2 through a high pass and low pass filter stage directed. By editing the image vector or Brightness vectors using a high-pass filter become external Interference with lighting profile suppressed. By editing the image vector or Brightness vector using a low-pass filter becomes thermal Noise from the CCD line scan camera eliminated. In step S3 becomes the processed image vector or brightness vector position i + 1 a correlation window or a Correlation vector with defined length taken, where the correlation window in step S4 pixel by pixel over the Image vector of the previous image i is pushed. in the Step S5 becomes the distance between pixels i + 1 per pixel and pixel i calculated. Then in step S6 Ralative shift between the image of position i and the image of the position i + 1 determined. 1 is the Relative position called incremental position. in the Step S7 becomes the relative position to the previous one Absolute position i added. The new in Fig. 1 as estimated position is the designated absolute position decisive for the localization of the relevant Database cutout. According to step S7 for example three of the new absolute position nearest image vectors are read from the image database and fed to the sequence according to FIG. 3.

    Fig. 3 zeigt den Ablauf zur Bestimmung einer absoluten Position eines erfassten Abschnittes beispielsweise der Führungsschiene. Der zweite softwaremässig realisierte Korrelator II des Rechners berechnet aus dem Bild der Position i und dem neuen Bild der Position i+1 eine absolute Position. In einem zehnten Schritt S10 wird aus den Bilddaten der CCD Zeilenkamera 3 ein eindimensionales Bild mit Bildpunkten bzw. Pixeln extrahiert bzw. generiert. Das auch Bildvektor bzw. Helligkeitsvektor genannte Bild wird anschliessend im Schritt S11 über eine Hochpass- und Tiefpassfilterstufe geleitet. Durch die Bearbeitung des Bildvektors bzw. Helligkeitsvektors mittels Hochpassfilter werden externe Störeinflüsse bezüglich Beleuchtungsprofil unterdrückt. Durch die Bearbeitung des Bildvektors bzw. Helligkeitsvektors mittels Tiefpassfilter wird thermisches Rauschen der CCD-Zeilenkamera eliminiert. Im Schritt S12 wird dem aufbereiteten Bildvektor bzw. Helligkeitsvektor der Position i+1 ein Korrelationsfenster bzw. ein Korrelationsvektor mit definierter Länge entnommen, wobei das Korrelationsfenster im Schritt S13 pixelweise über die im Schritt S7 der Bilddatenbank entnommenen Bildvektoren geschoben wird. Im Schritt S14 wird pro Pixel die Distanz zwischen Pixel i+1 und Pixel der entnommenen Bildvektoren berechnet. Anschliessend wird im Schritt S15 das Pixel i+1 mit der kleinsten Distanz bestimmt, woraus sich die aktuelle Absolutposition ergibt.Fig. 3 shows the procedure for determining an absolute Position of a detected section, for example the Guide rail. The second implemented in software Correlator II of the computer calculated from the image of the Position i and the new image of position i + 1 one absolute position. In a tenth step S10 is off the image data of the CCD line camera 3 a one-dimensional Extracted or generated image with pixels. The image also called image vector or brightness vector is then in step S11 via a high pass and Low pass filter stage directed. By editing the Image vectors or brightness vectors using a high-pass filter external interference with regard to the lighting profile suppressed. By editing the image vector or Brightness vector using a low-pass filter becomes thermal Noise from the CCD line scan camera eliminated. In step S12 becomes the processed image vector or brightness vector position i + 1 a correlation window or a Correlation vector with defined length taken, where the correlation window in step S13 pixel by pixel over the image vectors taken from the image database in step S7 is pushed. In step S14, the distance per pixel between pixels i + 1 and pixels of the extracted image vectors calculated. Then in step S15 the pixel becomes i + 1 with the smallest distance determines what the results in current absolute position.

    Claims (8)

    Verfahren zur Erzeugung von einer Aufzugssteuerung dienender Schachtinformation eines Aufzugsschachtes mit einer im Aufzugsschacht verfahrbaren Aufzugskabine, wobei die Schachtinformation aus bildweise erkennbaren Mustern erzeugt wird,
    dadurch gekennzeichnet, dass die Schachtinformation aus im Aufzugsschacht vorhandenen Mustern erzeugt wird, wobei als Muster die Oberflächenstruktur anderen Funktionen dienender Schachtbauteile oder Schachtausrüstung verwendet wird.    Method for generating elevator information serving as elevator control of an elevator shaft with an elevator car that can be moved in the elevator shaft, the shaft information being generated from patterns that are recognizable in terms of images,
    characterized in that the shaft information is generated from patterns present in the elevator shaft, the surface structure being used as a pattern for other functions of shaft components or shaft equipment serving other functions.         Verfahren nach Anspruch 1,
    dadurch gekennzeichnet, dass aus den abschnittweise erfassten Mustern Bilder erzeugt werden, wobei eine relative Position eines aktuellen Bildes zu einem vorangehenden Bild und eine absolute Position des aktuellen Bildes bestimmt wird.    Method according to claim 1,
    characterized in that images are generated from the sections acquired in sections, a relative position of a current image to a preceding image and an absolute position of the current image being determined.         Verfahren nach den Ansprüchen 1 oder 2,
    dadurch gekennzeichnet, dass aus der Überlappung eines Bildes der Position i+1 mit einem Bild der Position i eine relative Position bestimmt wird, wobei mit der relativen Position und der absoluten Position des Bildes i eine geschätzte Position bestimmt wird, die der Lokalisierung eines Ausschnittes einer Bilddatenbank dient und wobei aus dem Vergleich des lokalisierten Datenbankbildes mit dem aktuellen Bild die absolute Position des aktuellen Bildes bestimmt wird.     Process according to claims 1 or 2,
    characterized in that a relative position is determined from the overlap of an image of the position i + 1 with an image of the position i, an estimated position being determined with the relative position and the absolute position of the image i, which corresponds to the localization of a section of a Image database is used and the absolute position of the current image is determined from the comparison of the localized database image with the current image.         Verfahren nach Anspruch 3,
    dadurch gekennzeichnet, dass die Bestimmung der Position mittels eines Vergleichs der einzelnen Bildpixels erfolgt, wobei die Distanz des aktuellen Pixels zu einem vorbekannten Pixel zur Bestimmung der Position massgebend ist.    Method according to claim 3,
    characterized in that the position is determined by comparing the individual image pixels, the distance of the current pixel from a previously known pixel being decisive for determining the position.         Verfahren nach den Ansprüchen 3 oder 4,
    dadurch gekennzeichnet, dass zur Überprüfung der Positionen ein Zuverlässigkeitswert bestimmt wird.    Method according to claims 3 or 4,
    characterized in that a reliability value is determined for checking the positions.         Verfahren nach einem der Ansprüche 3 bis 5,
    dadurch gekennzeichnet, dass zur Erzeugung der Bilddatenbank der Aufzugsschacht durchfahren wird und die erfassten Muster mit einem Positionsindex versehen und in der Bilddatenbank abgelegt werden.    Method according to one of claims 3 to 5,
    characterized in that the elevator shaft is passed through in order to generate the image database and the detected patterns are provided with a position index and stored in the image database.         Verfahren nach einem der vorhergehenden Ansprüche,
    dadurch gekennzeichnet, dass die Oberflächenstruktur einer im Aufzugsschacht angeordneten Führungsschiene oder das Mauerwerk des Aufzugsschachtes als Muster verwendet wird.    Method according to one of the preceding claims,
    characterized in that the surface structure of a guide rail arranged in the elevator shaft or the masonry of the elevator shaft is used as a pattern.         Verfahren nach einem der vorhergehenden Ansprüche,
    dadurch gekennzeichnet, dass mindestens ein System bestehend aus einer CCD-Zeilenkamera und einem Rechner mit Speicher die Muster erfasst und die Positionen bestimmt.    Method according to one of the preceding claims,
    characterized in that at least one system consisting of a CCD line scan camera and a computer with memory detects the patterns and determines the positions.
    EP02405119A 2001-02-20 2002-02-18 Method to obtain shaft information for an elevator controller Expired - Lifetime EP1232988B1 (en)

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    Cited By (21)

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    Publication number Priority date Publication date Assignee Title
    US7731000B2 (en) 2004-02-27 2010-06-08 Otis Elevator Company Roll-calling mechanism based vision system for elevator positioning
    DE112004002766B4 (en) * 2004-02-27 2014-08-28 Otis Elevator Co. Positioning system for a lift
    AU2015357119B2 (en) * 2014-12-02 2019-04-04 Inventio Ag Method and system for determining the position of a lift car
    US20170349399A1 (en) * 2014-12-02 2017-12-07 Inventio Ag Method and apparatus for determining the position of an elevator car
    US10549947B2 (en) 2014-12-02 2020-02-04 Inventio Ag Method and apparatus for determining the position of an elevator car
    KR20170089870A (en) * 2014-12-02 2017-08-04 인벤티오 아게 Method and system for determining the position of a lift car
    WO2016087528A1 (en) * 2014-12-02 2016-06-09 Inventio Ag Method and system for determining the position of a lift car
    AU2015366482B2 (en) * 2014-12-15 2019-04-18 Inventio Ag Method for post-processing a surface structure of shaft material
    RU2707203C2 (en) * 2014-12-15 2019-11-25 Инвенцио Аг Method for post-processing of surface structure of shaft material and elevator components
    US10696522B2 (en) 2014-12-15 2020-06-30 Inventio Ag Method for post-processing a surface structure of shaft material
    WO2016096698A1 (en) * 2014-12-15 2016-06-23 Inventio Ag Method for post-processing a surface structure of shaft material
    WO2016096697A1 (en) * 2014-12-16 2016-06-23 Inventio Ag Position-determining system for an elevator
    KR20170098828A (en) * 2014-12-16 2017-08-30 인벤티오 아게 Position-determining system for an elevator
    US10577220B2 (en) 2014-12-16 2020-03-03 Inventio Ag Position-determination system for an elevator
    EP3336030A1 (en) * 2016-12-16 2018-06-20 Otis Elevator Company Optical standoff sensor
    WO2018210627A1 (en) 2017-05-18 2018-11-22 Inventio Ag System and method for determining the position of an elevator cab of an elevator installation
    US11130654B2 (en) 2017-05-18 2021-09-28 Inventio Ag System and method for determining the position of an elevator car of an elevator installation
    WO2020001971A1 (en) 2018-06-27 2020-01-02 Inventio Ag Method and system for determining the position of an elevator car of an elevator installation
    CN112154114A (en) * 2018-06-27 2020-12-29 因温特奥股份公司 Method and system for determining the position of an elevator car of an elevator installation
    AU2019295865B2 (en) * 2018-06-27 2022-04-28 Inventio Ag Method and system for determining the position of an elevator car of an elevator installation
    CN112154114B (en) * 2018-06-27 2022-08-23 因温特奥股份公司 Method and system for determining the position of an elevator car of an elevator installation

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    DE50200642D1 (en) 2004-08-26
    NO20020817L (en) 2002-08-21
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    BR0200457A (en) 2002-10-29
    NO321417B1 (en) 2006-05-08
    EP1232988B1 (en) 2004-07-21
    CN1178838C (en) 2004-12-08
    CA2370883C (en) 2009-07-28
    NO20020817D0 (en) 2002-02-19
    JP4283479B2 (en) 2009-06-24
    HK1049141A1 (en) 2003-05-02
    MXPA02001741A (en) 2003-08-20
    MY127975A (en) 2007-01-31
    ES2225748T3 (en) 2005-03-16
    CA2370883A1 (en) 2002-08-20
    SG96681A1 (en) 2003-06-16
    AU783425B2 (en) 2005-10-27
    JP2002274765A (en) 2002-09-25
    AU1568002A (en) 2002-08-22
    ZA200201079B (en) 2002-08-21
    CN1371857A (en) 2002-10-02
    US6612403B2 (en) 2003-09-02
    DK1232988T3 (en) 2004-11-01
    ATE271511T1 (en) 2004-08-15

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